Kinematics Analysis of a Parallel Robotic Manipulator

Abstract:

The parallel robotic manipulator has attracted many researchers’ attention and it also has growing applications to different areas. In this paper an algebraic method for solving the direct kinematics analysis problem for a parallel robotic manipulator. Based on the presented algebraic method, the problem is derived into a 40th degree univariate polynomial. All complete sets of 40 solutions to the problem are obtained. The proposed method is exemplified by a numerical example.

• Periodical: Applied Mechanics and Materials (Volumes 29-32)
• Pages: 956-960
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.29-32.956
• Online since: August 2010
• Authors: Xi Guang Huang, Guang Pin He, Duan Ling Li
• Keywords: Algebraic Method, Kinematics, Parallel Platform

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